From 14225b4ceeb5aa2f54b7cc044f72d89de465b556 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 21 Mar 2024 21:18:13 -0400
Subject: [PATCH] Create NTLogAppender

---
 .../photonvision/common/logging/Logger.java   | 23 +++++++++++++++++++
 .../src/main/java/org/photonvision/Main.java  |  2 ++
 2 files changed, 25 insertions(+)

diff --git a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
index 7bba651b53..2d7fdb5b6b 100644
--- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -17,6 +17,9 @@
 
 package org.photonvision.common.logging;
 
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.networktables.StringPublisher;
 import java.io.*;
 import java.nio.file.Path;
 import java.text.ParseException;
@@ -28,6 +31,7 @@
 import org.photonvision.common.configuration.PathManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.util.TimedTaskManager;
 
 /** TODO: get rid of static {} blocks and refactor to singleton pattern */
@@ -127,6 +131,11 @@ public static void addFileAppender(Path logFilePath) {
         currentAppenders.add(new FileLogAppender(logFilePath));
     }
 
+    /** Publish log stringst to NT. This must be done AFTER loading ntcore. */
+    public static void addNtAppender() {
+        currentAppenders.add(new NTLogAppender());
+    }
+
     public static void closeAllLoggers() {
         currentAppenders.forEach(LogAppender::shutdown);
         currentAppenders.clear();
@@ -317,6 +326,20 @@ public void log(String message, LogLevel level) {
         }
     }
 
+    private static class NTLogAppender implements LogAppender {
+        private StringPublisher pub =
+                NetworkTablesManager.getInstance()
+                        .kRootTable
+                        .getSubTable("log_outputs")
+                        .getStringTopic(CameraServerJNI.getHostname())
+                        .publish(PubSubOption.sendAll(true));
+
+        @Override
+        public void log(String message, LogLevel level) {
+            pub.accept(message);
+        }
+    }
+
     private static class FileLogAppender implements LogAppender {
         private OutputStream out;
         private boolean wantsFlush;
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index 2e07c52700..6d7df1bc2e 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -203,6 +203,8 @@ public static void main(String[] args) {
         }
         logger.info("WPI JNI libraries loaded.");
 
+        Logger.addNtAppender();
+
         try {
             boolean success = PhotonTargetingJniLoader.load();